Vehicle speed control device

Abstract

A vehicle speed control device executes a reverse speed control that controls the speed of the vehicle when reversing, on the basis of a target speed that is set in accordance with a control operation when the reverse range is selected using the shift device of the vehicle. During the reverse speed control, the vehicle speed control device calculates so as to reduce a target acceleration. which is a target value for acceleration of the vehicle when the vehicle speed when reversing is increased toward the target speed, as the operation amount of the steering wheel increases.

The invention claimed is: 
     
       1. A vehicle speed control device comprising:
 a target speed setting unit that sets a target speed, which is a target value of a vehicle speed when a vehicle is reversing, based on a braking operation amount of the vehicle when a reverse range is selected with a shift device of the vehicle; and 
 an acceleration control unit that controls an acceleration of the vehicle until the vehicle speed when raising the vehicle speed toward the target speed when a vehicle is reversing reaches the target speed, 
 wherein when a position of a steering wheel when the vehicle is moving straight is a reference position, the acceleration control unit decreases the acceleration of the vehicle until the vehicle speed when a vehicle is reversing reaches the target speed as the operation. amount of the steering wheel from the reference position increases, and 
 wherein the acceleration control unit decreases the acceleration of the vehicle until the vehicle speed when the vehicle is reversing reaches the target speed based on an operation speed of the steering wheel increasing. 
 
     
     
       2. The vehicle speed control device according to  claim 1 , further comprising:
 a reference setting unit that sets a reference acceleration so that the reference acceleration of the vehicle increases as a decreasing speed of the braking operation amount increases; and 
 a suppression amount setting unit that sets a suppression amount so that the suppression amount increases as the operation amount of the steering wheel increases, 
 wherein the acceleration control unit sets a difference obtained by subtracting the suppression amount from the reference acceleration as a target acceleration which is a target value of an acceleration when raising the vehicle speed when the vehicle is reversing toward the target speed. 
 
     
     
       3. The vehicle speed control device according to  claim 2 , wherein the suppression amount setting unit sets the suppression amount so that the suppression amount increases as the operation speed of the steering wheel increases. 
     
     
       4. The vehicle speed control device according to  claim 3 , wherein when the operation speed of the steering wheel is greater than or equal to a specified speed, the suppression amount setting unit sets the suppression amount so that a minimum value of the suppression amount when the operation speed is greater than or equal to the specified speed becomes greater than a minimum value of the suppression amount when the operation speed is less than the specified speed. 
     
     
       5. The vehicle speed control device according to  claim 2 , wherein the suppression amount setting unit sets the suppression amount based on a sum of a first suppression amount, which is a value based on the operation amount of the steering wheel, and a second suppression amount, which is a value based on the operation speed of the steering wheel. 
     
     
       6. A vehicle speed control device comprising circuitry configured to
 set a target speed, which is a target value of a vehicle speed when a vehicle is reversing, based on a braking operation amount of the vehicle when a reverse range is selected with a shift device of the vehicle; and 
 control an acceleration of the vehicle until the vehicle speed when raising the vehicle speed toward the target speed when a vehicle is reversing reaches the target speed, 
 when a position of a steering wheel when the vehicle is moving straight is a reference position, decrease the acceleration of the vehicle until the vehicle speed when a vehicle is reversing reaches the target speed as the operation amount of the steering wheel from the reference position increases, and. 
 decrease the acceleration of the vehicle until the vehicle speed when the vehicle is reversing reaches the target speed based on an operation speed of the steering wheel increasing. 
 
     
     
       7. The vehicle speed control device according to  claim 6 , wherein the circuitry is further configured to
 set a reference acceleration so that the reference acceleration of the vehicle increases as a decreasing speed of the braking operation amount increases, 
 set a suppression amount so that the suppression amount increases as the operation amount of the steering wheel increases, and 
 set a difference obtained by subtracting the suppression amount from the reference acceleration as a target acceleration which is a target value of an acceleration when raising the vehicle speed when the vehicle is reversing toward the target speed. 
 
     
     
       8. The vehicle speed control device according to  claim 7 , wherein the circuitry is configured to set the suppression amount so that the suppression amount increases as the operation speed of the steering wheel increases. 
     
     
       9. The vehicle speed control device according to  claim 8 , wherein when the operation speed of the steering wheel is greater than or equal to a specified speed, the circuitry is configured to set the suppression amount so that a minimum value of the suppression amount when the operation speed is greater than or equal to the specified speed becomes greater than a minimum value of the suppression amount when the operation speed is less than the specified speed. 
     
     
       10. The vehicle speed control device according to  claim 7 , wherein the circuitry is configured to set the suppression amount based on a sum of a first suppression amount, which is a value based on the operation amount of the steering wheel, and a second suppression amount, which is a value based on the operation speed of the steering wheel.